def setup(self):
try:
# Iterate over the joystick devices.
print('Available devices:')
for fn in os.listdir('/dev/input'):
if fn.startswith('js'):
print((' /dev/input/%s' % (fn)))
# We'll store the states here.
axis_states = {}
button_states = {}
# These constants were borrowed from linux/input.h
axis_names = {
0x00 : 'x',
0x01 : 'y',
0x02 : 'z',
0x03 : 'rx',
0x04 : 'ry',
0x05 : 'rz',
0x06 : 'trottle',
0x07 : 'rudder',
0x08 : 'wheel',
0x09 : 'gas',
0x0a : 'brake',
0x10 : 'hat0x',
0x11 : 'hat0y',
0x12 : 'hat1x',
0x13 : 'hat1y',
0x14 : 'hat2x',
0x15 : 'hat2y',
0x16 : 'hat3x',
0x17 : 'hat3y',
0x18 : 'pressure',
0x19 : 'distance',
0x1a : 'tilt_x',
0x1b : 'tilt_y',
0x1c : 'tool_width',
0x20 : 'volume',
0x28 : 'misc',
}
button_names = {
0x120 : 'trigger',
0x121 : 'thumb',
0x122 : 'thumb2',
0x123 : 'top',
0x124 : 'top2',
0x125 : 'pinkie',
0x126 : 'base',
0x127 : 'base2',
0x128 : 'base3',
0x129 : 'base4',
0x12a : 'base5',
0x12b : 'base6',
0x12f : 'dead',
0x130 : 'a',
0x131 : 'b',
0x132 : 'c',
0x133 : 'x',
0x134 : 'y',
0x135 : 'z',
0x136 : 'tl',
0x137 : 'tr',
0x138 : 'tl2',
0x139 : 'tr2',
0x13a : 'select',
0x13b : 'start',
0x13c : 'mode',
0x13d : 'thumbl',
0x13e : 'thumbr',
0x220 : 'dpad_up',
0x221 : 'dpad_down',
0x222 : 'dpad_left',
0x223 : 'dpad_right',
# XBox 360 controller uses these codes.
0x2c0 : 'dpad_left',
0x2c1 : 'dpad_right',
0x2c2 : 'dpad_up',
0x2c3 : 'dpad_down',
}
axis_map = []
button_map = []
# Open the joystick device.
fn = '/dev/input/js0'
if self.DEBUG==True:
print(('Opening %s...' % fn))
jsdev = open(fn, 'rb')
# Get the device name.
#buf = bytearray(63)
buf = array.array('B', [0] * 64)
ioctl(jsdev, 0x80006a13 + (0x10000 * len(buf)), buf) # JSIOCGNAME(len)
js_name = buf.tostring().rstrip(b'\x00').decode('utf-8')
if self.DEBUG==True:
print(('Device name: %s' % js_name))
# Get number of axes and buttons.
buf = array.array('B', [0])
ioctl(jsdev, 0x80016a11, buf) # JSIOCGAXES
num_axes = buf[0]
buf = array.array('B', [0])
ioctl(jsdev, 0x80016a12, buf) # JSIOCGBUTTONS
num_buttons = buf[0]
# Get the axis map.
buf = array.array('B', [0] * 0x40)
ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP
for axis in buf[:num_axes]:
axis_name = axis_names.get(axis, 'unknown(0x%02x)' % axis)
axis_map.append(axis_name)
axis_states[axis_name] = 0.0
# Get the button map.
buf = array.array('H', [0] * 200)
ioctl(jsdev, 0x80406a34, buf) # JSIOCGBTNMAP
for btn in buf[:num_buttons]:
btn_name = button_names.get(btn, 'unknown(0x%03x)' % btn)
button_map.append(btn_name)
button_states[btn_name] = 0
# Print out the values
if self.DEBUG==True:
print(('%d axes found: %s' % (num_axes, ', '.join(axis_map))))
print(('%d buttons found: %s' % (num_buttons, ', '.join(button_map))))
## CONFIGURE ANALOGUE JOYSTICK "DEAD-ZONES"
# use these values to increase/decrease the deadzones on the analogues
pdz=0.100 # Positve Deadzone
ndz=-0.100 # Negative Deadzone
## Init the DCmotors class
if self.DEBUG==True:
print("Creating New DC Motor Class...")
dcm = DCMotors()
# set speeds up here | use to set speed for DC Motors in the program
dcm_speed_0=0
dcm_speed_1=10
dcm_speed_2=20
dcm_speed_3=30
dcm_speed_4=40
dcm_speed_5=50
# set initial speeds here
dcm_initial_speed_x = dcm_speed_1 # Turning (Left/Right)
dcm_initial_speed_y = dcm_speed_2 # Movement (Forward/Backward)
# use initial speed values to set the initial Pulse Width Modulation values
dcm.setPWMAX(dcm_initial_speed_x) # Turning (Left Wheel)
dcm.setPWMBX(dcm_initial_speed_x) # Turning (Right Wheel)
dcm.setPWMAY(dcm_initial_speed_y) # Moving Forward/Backward (Left Wheel)
dcm.setPWMBY(dcm_initial_speed_y) # Moving Forward/Backward (Right Wheel)
# store "last known" speeds here (starts with the 'initial speed' values)
dcm_last_known_speed_x=dcm_initial_speed_x # Turning (Left/Right)
dcm_last_known_speed_y=dcm_initial_speed_y # Movement (Forward/Backward)
# store the "current" speeds here
dcm_current_speed_x=dcm_initial_speed_x # Turning (Left/Right)
dcm_current_speed_y=dcm_initial_speed_y # Movement (Forward/Backward)
## Init the PCA9685 class (Servo Motors)
if self.DEBUG==True:
print("Creating New Instance Of PCA9685 Class...")
pwm=PCA9685(0x40, debug=True) # leave these aguments as is, do not change.
pwm.setPWMFreq(50) #set the frequency | must be 50, do not chnage this!
#set the initial servo pulses, which "center" the servos before we begin
pwm.setServoPulse(0,1500) #horizontal | note: the channel (0) is for horizontal
pwm.setServoPulse(1,1500) #vertical | note: the channel (1) is for vertical
vslv=1500 # Vertical Servo Last Value | store the last known value for the vertical servo's 'Servo Pulse' | set to 1500 (center) before the main loop starts
hslv=1500 # Horizontal Servo Last Value | store the last known value for the horizontal servo's 'Servo Pulse' | set to 1500 (center) before the main loop starts
sspa=700 # Servo Stopping Point A | set the stopping point for the servo's here
sspb=2300 # Servo Stopping Point B | set the stopping point for the servo's here
sss=10 # Servo Step Size | set the size of the servo steps here (larger steps will make it move faster)
## Init the Buzzer class
bzr=Buzzer()
# Main event loop
while True:
evbuf = jsdev.read(8)
if evbuf:
time, value, type, number = struct.unpack('IhBB', evbuf)
if type & 0x80:
if self.DEBUG==True:
print("(initial)")
if type & 0x01:
button = button_map[number]
if button:
button_states[button] = value
if value:
if self.DEBUG==True:
print(("%s pressed" % (button)))
else:
if self.DEBUG==True:
print(("%s released" % (button)))
###############################################################
# BUTTONS [TRIANGLE, SQUARE, CROSS, CIRCLE] | MISC. FUNCTIONS #
###############################################################
if value:
################################
# CIRCLE | RECENTER THE SERVOS #
################################
if button == "b":
print("CIRCLE Pushed... Centering Servos Now ^_^)")
# set the servo pulse to the center positions/values for the vertical and horizontal servos
pwm.setServoPulse(0,1500)
pwm.setServoPulse(1,1500)
# make sure the vertical & horizontal servo's last known value is reset to the 'center' position to prevent "jumping behaviour" when panning again
vslv=1500
hslv=1500
##############################################
# SQUARE | RESET SPEEDS | TURNING & MOVEMENT #
##############################################
elif button == "y":
print("SQUARE Pushed... Resetting Speeds Now ^_^")
## reset speed code here...
dcm.setPWMAX(dcm_initial_speed_x) # set Pulse Width Modulation For Motor A To Initial Value (Turning Speed)
dcm.setPWMBX(dcm_initial_speed_x) # set Pulse Width Modulation For Motor B To Initial Value (Turning Speed)
dcm.setPWMAY(dcm_initial_speed_y) # set Pulse Width Modulation For Motor A To Initial Value (Movement Speed)
dcm.setPWMBX(dcm_initial_speed_y) # set Pulse Width Modulation For Motor B To Initial Value (Movement Speed)
dcm_last_known_speed_x=dcm_initial_speed_x # update last known movement speed to the initial value (Turning Speed)
dcm_last_known_speed_y=dcm_initial_speed_y # update last known movement speed to the initial value (Movement Speed)
#####################
# TRIANGLE | BUZZER #
#####################
elif button == "x":
print("TRIANGLE Pushed... Buzzing Now ^_^")
bzr.ezbuzz()
#############################################################
## speed control (DC Motors) | MOVEMENT (FORWARD/BACKWARD) ##
#############################################################
## SLOW DOWN (top left trigger)
elif button == "tl":
print ("Top Left Trigger Pushed... Decreasing Speed now...")
# if speed is zero, do nothing... cant slow down any more than that can we..
if dcm_last_known_speed_y == dcm_speed_0:
print("Speed is already 0, we cant go any lower bro...")
# else if speed is 1, slow down to 0
elif dcm_last_known_speed_y == dcm_speed_1:
print("Slowing Down Turning Speed to: ",dcm_speed_0)
dcm.setPWMAY(dcm_speed_0)
dcm.setPWMBY(dcm_speed_0)
dcm_last_known_speed_y=dcm_speed_0 # update last known speed value to the updated one
# else if speed is 2, slow down to 1
elif dcm_last_known_speed_y == dcm_speed_2:
print("Slowing Down Turning Speed to: ",dcm_speed_1)
dcm.setPWMAY(dcm_speed_1)
dcm.setPWMBY(dcm_speed_1)
dcm_last_known_speed_y=dcm_speed_1 # update last known speed value to the updated one
# else if speed is 3, slow down to 2
elif dcm_last_known_speed_y == dcm_speed_3:
print("Slowing Down Turning Speed to: ",dcm_speed_2)
dcm.setPWMAY(dcm_speed_2)
dcm.setPWMBY(dcm_speed_2)
dcm_last_known_speed_y=dcm_speed_2 # update last known speed value to the updated one
# else if speed is 4, slow down to 3
elif dcm_last_known_speed_y == dcm_speed_4:
print("Slowing Down Turning Speed to: ",dcm_speed_3)
dcm.setPWMAY(dcm_speed_3)
dcm.setPWMBY(dcm_speed_3)
dcm_last_known_speed_y=dcm_speed_3 # update last known speed value to the updated one
# else if speed is 5, slow down to 4
elif dcm_last_known_speed_y == dcm_speed_5:
print("Slowing Down Turning Speed to: ",dcm_speed_4)
dcm.setPWMAY(dcm_speed_4)
dcm.setPWMBY(dcm_speed_4)
dcm_last_known_speed_y=dcm_speed_4 # update last known speed value to the updated one
## SPEED UP (top left trigger)
elif button == "tr":
print ("Top Right Trigger Pushed... Increasing Speed now...")
# if speed is 0, speed up to 1..
if dcm_last_known_speed_y == dcm_speed_0:
print("Speeding Up Turning Speed to: ",dcm_speed_1)
dcm.setPWMAY(dcm_speed_1)
dcm.setPWMBY(dcm_speed_1)
dcm_last_known_speed_y=dcm_speed_1 # update last known speed value to the updated one
# else if speed is 1, speed up to 2
elif dcm_last_known_speed_y == dcm_speed_1:
print("Speeding Up Turning Speed to: ",dcm_speed_2)
dcm.setPWMAY(dcm_speed_2)
dcm.setPWMBY(dcm_speed_2)
dcm_last_known_speed_y=dcm_speed_2 # update last known speed value to the updated one
# else if speed is 2, speed up to 3
elif dcm_last_known_speed_y == dcm_speed_2:
print("Speeding Up Turning Speed to: ",dcm_speed_3)
dcm.setPWMAY(dcm_speed_3)
dcm.setPWMBY(dcm_speed_3)
dcm_last_known_speed_y=dcm_speed_3 # update last known speed value to the updated one
# else if speed is 3, speed up to 4
elif dcm_last_known_speed_y == dcm_speed_3:
print("Speeding Up Turning Speed to: ",dcm_speed_4)
dcm.setPWMAY(dcm_speed_4)
dcm.setPWMBY(dcm_speed_4)
dcm_last_known_speed_y=dcm_speed_4 # update last known speed value to the updated one
# else if speed is 4, speed up to 5
elif dcm_last_known_speed_y == dcm_speed_4:
print("Speeding Up Turning Speed to: ",dcm_speed_5)
dcm.setPWMAY(dcm_speed_5)
dcm.setPWMBY(dcm_speed_5)
dcm_last_known_speed_y=dcm_speed_5 # update last known speed value to the updated one
# else if speed is 5, this is our max, so we wont go any higher...
elif dcm_last_known_speed_y == dcm_speed_5:
print("Speed is already 5, we cant go any higher bro... Maybe consider making a 'Temp Power Boost' function using a different button... L3 maybe? ;)")
else:
print(("%s released" % (button))) # this gets fired EVERYTIME a button is "released"
if type & 0x02:
axis = axis_map[number]
if axis:
fvalue = value / 32767.0
axis_states[axis] = fvalue
if self.DEBUG==True:
print(("%s: %.3f" % (axis, fvalue)))
####################################
# LEFT ANALOGUE | DC MOTOR CONTROL #
####################################
## forward
if axis == "y" and fvalue < ndz:
dcm.forward()
if self.DEBUG==True:
print("Moving Forward...")
elif axis == "y" and fvalue == 0:
dcm.stop()
if self.DEBUG==True:
print("Stopping...")
## backward
elif axis == "y" and fvalue > pdz:
dcm.backward()
if self.DEBUG==True:
print("Moving Backward...")
elif axis == "y" and fvalue == 0:
dcm.stop()
if self.DEBUG==True:
print("Stopping...")
## left
elif axis == "x" and fvalue < ndz:
dcm.left()
if self.DEBUG==True:
print("Turning Left")
elif axis == "x" and fvalue == 0:
dcm.stop()
if self.DEBUG==True:
print("Stopping...")
## right
elif axis == "x" and fvalue > pdz:
dcm.right()
if self.DEBUG==True:
print("Turning Right")
elif axis == "x" and fvalue == 0:
dcm.stop()
if self.DEBUG==True:
print("Stopping...")
########################################
# RIGHT ANALOGUE | SERVO MOTOR CONTROL #
########################################
## up
if axis == "ry" and fvalue > pdz:
if vslv > sspa and vslv <= sspb: #make sure we are between a reasonable range
vslv=vslv-sss # decrement our servo pulse
if self.DEBUG==True:
print("Panning Servo Up...")
print("vslv:",vslv)
pwm.setServoPulse(1,vslv)
## down
elif axis == "ry" and fvalue < ndz:
if vslv >= sspa and vslv < sspb: #make sure we are between a reasonable range
vslv=vslv+sss # increment our servo pulse
if self.DEBUG==True:
print("Panning Servo Down...")
print("vslv:",vslv)
pwm.setServoPulse(1,vslv)
## left
elif axis == "rx" and fvalue < ndz:
if hslv >= sspa and hslv < sspb: #make sure we are between a reasonable range
hslv=hslv+sss # decrement our servo pulse
if self.DEBUG==True:
print("Panning Servo Left...")
print("hslv:",hslv)
pwm.setServoPulse(0,hslv)
## right
elif axis == "rx" and fvalue > pdz:
if hslv > sspa and hslv <= sspb: #make sure we are between a reasonable range
hslv=hslv-sss # increment our servo pulse
if self.DEBUG==True:
print("Panning Servo Right...")
print("hslv:",hslv)
pwm.setServoPulse(0,hslv)
############################################################
# HAT DIRECTIONAL BUTTONS | DC MOTOR TURNING SPEED CONTROL #
############################################################
### DOWN BUTTON
## SLOW DOWN
if axis == "hat0y" and fvalue == 1:
print("hat0y (UP) Pushed...")
# if speed is zero, do nothing... cant slow down any more than that can we..
if dcm_last_known_speed_x == dcm_speed_0:
print("Speed is already 0, we cant go any lower bro...")
# else if speed is 1, slow down to 0
elif dcm_last_known_speed_x == dcm_speed_1:
print("Slowing Down Turning Speed to: ",dcm_speed_0)
dcm.setPWMAX(dcm_speed_0)
dcm.setPWMBX(dcm_speed_0)
dcm_last_known_speed_x=dcm_speed_0 # update last known speed value to the updated one
# else if speed is 2, slow down to 1
elif dcm_last_known_speed_x == dcm_speed_2:
print("Slowing Down Turning Speed to: ",dcm_speed_1)
dcm.setPWMAX(dcm_speed_1)
dcm.setPWMBX(dcm_speed_1)
dcm_last_known_speed_x=dcm_speed_1 # update last known speed value to the updated one
# else if speed is 3, slow down to 2
elif dcm_last_known_speed_x == dcm_speed_3:
print("Slowing Down Turning Speed to: ",dcm_speed_2)
dcm.setPWMAX(dcm_speed_2)
dcm.setPWMBX(dcm_speed_2)
dcm_last_known_speed_x=dcm_speed_2 # update last known speed value to the updated one
# else if speed is 4, slow down to 3
elif dcm_last_known_speed_x == dcm_speed_4:
print("Slowing Down Turning Speed to: ",dcm_speed_3)
dcm.setPWMAX(dcm_speed_3)
dcm.setPWMBX(dcm_speed_3)
dcm_last_known_speed_x=dcm_speed_3 # update last known speed value to the updated one
# else if speed is 5, slow down to 4
elif dcm_last_known_speed_x == dcm_speed_5:
print("Slowing Down Turning Speed to: ",dcm_speed_4)
dcm.setPWMAX(dcm_speed_4)
dcm.setPWMBX(dcm_speed_4)
dcm_last_known_speed_x=dcm_speed_4 # update last known speed value to the updated one
### UP BUTTON
## SPEED UP
elif axis == "hat0y" and fvalue == -1:
print ("hat0y (DOWN) Pushed... Increasing Speed now...")
# if speed is 0, speed up to 1..
if dcm_last_known_speed_x == dcm_speed_0:
print("Speeding Up Turning Speed to: ",dcm_speed_1)
dcm.setPWMAX(dcm_speed_1)
dcm.setPWMBX(dcm_speed_1)
dcm_last_known_speed_x=dcm_speed_1 # update last known speed value to the updated one
# else if speed is 1, speed up to 2
elif dcm_last_known_speed_x == dcm_speed_1:
print("Speeding Up Turning Speed to: ",dcm_speed_2)
dcm.setPWMAX(dcm_speed_2)
dcm.setPWMBX(dcm_speed_2)
dcm_last_known_speed_x=dcm_speed_2 # update last known speed value to the updated one
# else if speed is 2, speed up to 3
elif dcm_last_known_speed_x == dcm_speed_2:
print("Speeding Up Turning Speed to: ",dcm_speed_3)
dcm.setPWMAX(dcm_speed_3)
dcm.setPWMBX(dcm_speed_3)
dcm_last_known_speed_x=dcm_speed_3 # update last known speed value to the updated one
# else if speed is 3, speed up to 4
elif dcm_last_known_speed_x == dcm_speed_3:
print("Speeding Up Turning Speed to: ",dcm_speed_4)
dcm.setPWMAX(dcm_speed_4)
dcm.setPWMBX(dcm_speed_4)
dcm_last_known_speed_x=dcm_speed_4 # update last known speed value to the updated one
# else if speed is 4, speed up to 5
elif dcm_last_known_speed_x == dcm_speed_4:
print("Speeding Up Turning Speed to: ",dcm_speed_5)
dcm.setPWMAX(dcm_speed_5)
dcm.setPWMBX(dcm_speed_5)
dcm_last_known_speed_x=dcm_speed_5 # update last known speed value to the updated one
# else if speed is 5, this is our max, so we wont go any higher...
elif dcm_last_known_speed_x == dcm_speed_5:
print("Speed is already 5, we cant go any higher bro... Maybe consider making a 'Temp Power Boost' function using a different button... L3 maybe? ;)")
except KeyboardInterrupt:
print("Program stopped by user...")
except Exception:
traceback.print_exc()
finally:
if self.DEBUG==True:
print("Setup process complete")
